Email this article Dynamic Analysis of the Spherical Part of the Parallel Manipulator Taking into Account the Control Law
- Authors: Nosova N.Y.1,2, Kheilo S.V.3, Glazunov V.A.1, Tsar’kov A.V.4
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Affiliations:
- Mechanical Engineering Research Institute
- National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
- Russian State University (Technology, Design, Art)
- Kaluga Branch
- Issue: Vol 47, No 3 (2018)
- Pages: 205-212
- Section: Mechanics of Machines
- URL: https://journals.rcsi.science/1052-6188/article/view/193837
- DOI: https://doi.org/10.3103/S1052618818030111
- ID: 193837
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Abstract
A parallel manipulator with six degrees of freedom is considered. A dynamic model for the spherical part of the manipulator is presented. Dynamic analysis is carried out. The real laws of motion of the output link of the spherical part of the manipulator are determined by the screw theory method based on solution of the inverse dynamic problem and the direct velocity problem. The effect of the initial conditions and feedback coefficients on the error of the real law of motion of the output link is analyzed.
About the authors
N. Yu. Nosova
Mechanical Engineering Research Institute; National Research Nuckear University MEPhI (Moscow Engineering Physics Institute)
Author for correspondence.
Email: natahys@mail.ru
Russian Federation, Moscow; Moscow, 115409
S. V. Kheilo
Russian State University (Technology, Design, Art)
Email: natahys@mail.ru
Russian Federation, Moscow
V. A. Glazunov
Mechanical Engineering Research Institute
Email: natahys@mail.ru
Russian Federation, Moscow
A. V. Tsar’kov
Kaluga Branch
Email: natahys@mail.ru
Russian Federation, Kaluga
